[openrtm-commit:00674] r2315 - trunk/OpenRTM-aist/src/ext/ec/logical_time/example
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2012年 2月 8日 (水) 03:40:32 JST
Author: n-ando
Date: 2012-02-08 03:40:32 +0900 (Wed, 08 Feb 2012)
New Revision: 2315
Removed:
trunk/OpenRTM-aist/src/ext/ec/logical_time/example/TriggerApp.cpp
Modified:
trunk/OpenRTM-aist/src/ext/ec/logical_time/example/Makefile.am
Log:
[compat,file,func] TriggerApp has been removed.
Modified: trunk/OpenRTM-aist/src/ext/ec/logical_time/example/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/src/ext/ec/logical_time/example/Makefile.am 2012-02-07 18:37:35 UTC (rev 2314)
+++ trunk/OpenRTM-aist/src/ext/ec/logical_time/example/Makefile.am 2012-02-07 18:40:32 UTC (rev 2315)
@@ -10,6 +10,12 @@
AM_CPPFLAGS=-I$(top_srcdir)/src/lib -I$(top_srcdir)/src/lib/coil/include -I$(top_srcdir)/src/lib/rtm/idl
AM_LDFLAGS=-L$(top_builddir) -L$(top_builddir)/src/lib/rtm -L$(top_builddir)/src/lib/rtm/idl
+all-local:
+ mkdir -p idl
+ cp -p $(top_srcdir)/src/lib/rtm/idl/SDOPackage.idl idl/
+ cp -p $(top_srcdir)/src/lib/rtm/idl/RTC.idl idl/
+ cp -p ../LogicalTimeTriggeredEC.idl idl/
+
#------------------------------------------------------------
# Targets
#------------------------------------------------------------
@@ -19,7 +25,7 @@
sourcedir = $(exampledir)/src/ExtTrigger
# Standalone RTCs
-example_PROGRAMS = LTTSampleComp TriggerApp
+example_PROGRAMS = LTTSampleComp
example_DATA = rtc.conf
LTTSampleComp_SOURCES = LTTSampleComp.cpp LTTSample.cpp LTTSample.h
@@ -28,13 +34,6 @@
../libLogicalTimeTriggeredECSkel.la
LTTSampleComp_LDFLAGS = -L$(top_builddir)/src/lib/rtm/.libs
-TriggerApp_SOURCES = TriggerApp.cpp
-TriggerApp_LDADD = \
- $(top_builddir)/src/lib/rtm/libRTC.la \
- $(top_builddir)/src/lib/coil/lib/libcoil.la \
- ../libLogicalTimeTriggeredECSkel.la
-TriggerApp_LDFLAGS = -L$(top_builddir)/src/lib/rtm/.libs
-
# Example sources
source_DATA = $(ALL_SRC) $(EXTRA_DIST)
@@ -42,12 +41,11 @@
# Extra distributed files
#------------------------------------------------------------
EXTRA_DIST = \
+ TickApp.py \
run.sh \
rtc.conf
-ALL_SRC = \
- $(LTTSampleComp_SOURCES) \
- $(TriggerApp_SOURCES)
+ALL_SRC = $(LTTSampleComp_SOURCES)
#------------------------------------------------------------
# File list for deb/ports packages
Deleted: trunk/OpenRTM-aist/src/ext/ec/logical_time/example/TriggerApp.cpp
===================================================================
--- trunk/OpenRTM-aist/src/ext/ec/logical_time/example/TriggerApp.cpp 2012-02-07 18:37:35 UTC (rev 2314)
+++ trunk/OpenRTM-aist/src/ext/ec/logical_time/example/TriggerApp.cpp 2012-02-07 18:40:32 UTC (rev 2315)
@@ -1,226 +0,0 @@
-// -*- C++ -*-
-/*!
- * @file ConnectorComp.cpp
- * @brief connector application
- * @date $Date: 2008-01-13 07:24:05 $
- *
- * Copyright (c) 2003-2007 Noriaki Ando <n-ando at aist.go.jp>
- * Task-intelligence Research Group,
- * Intelligent System Research Institute,
- * National Institute of Industrial Science (AIST), Japan
- * All rights reserved.
- *
- * $Id: ConnectorComp.cpp 1429 2009-07-06 08:28:25Z hakuta $
- */
-
-#include <iostream>
-#include <vector>
-#include <string>
-#include <rtm/idl/OpenRTMSkel.h>
-#include <rtm/CorbaNaming.h>
-#include <rtm/RTObject.h>
-#include <rtm/NVUtil.h>
-#include <rtm/CORBA_SeqUtil.h>
-#include <rtm/CorbaConsumer.h>
-#include <assert.h>
-#include <coil/stringutil.h>
-
-
-using namespace RTC;
-
-void usage()
-{
- std::cout << std::endl;
- std::cout << "usage: ConnectorCompExt [options].." << std::endl;
- std::cout << std::endl;
- std::cout << " --flush ";
- std::cout << ": Set subscription type flush" << std::endl;
- std::cout << " --new ";
- std::cout << ": Set subscription type new" << std::endl;
- std::cout << " --periodic [Hz] ";
- std::cout << ": Set subscription type periodic" << std::endl;
- std::cout << " --policy [any] ";
- std::cout << ": Set push policy ALL or FIFO or SKIP or NEW" << std::endl;
- std::cout << " --skip [n] ";
- std::cout << ": Set skip count 0..n" << std::endl;
- std::cout << std::endl;
- std::cout << "exsample:" << std::endl;
- std::cout << " ConnectorCompExt --flush" << std::endl;
- std::cout << " ConnectorCompExt --new" << std::endl;
- std::cout << " ConnectorCompExt --new --policy ALL" << std::endl;
- std::cout << " ConnectorCompExt --new --policy SKIP --skip 100" << std::endl;
- std::cout << " ConnectorCompExt --periodic 10" << std::endl;
- std::cout << " ConnectorCompExt --periodic 10 --policy FIFO" << std::endl;
- std::cout << " ConnectorCompExt --periodic 10 --policy NEW" << std::endl;
- std::cout << std::endl;
-}
-
-int main (int argc, char** argv)
-{
- int _argc(0);
- char** _argv(0);
-
- std::string subs_type("flush");
- std::string period("1.0");
- std::string push_policy("");
- std::string skip_count("1");
- if (argc < 2)
- {
- usage();
- exit(1);
- }
-
- for (int i = 1; i < argc; ++i)
- {
- std::string arg(argv[i]);
- coil::normalize(arg);
- if (arg == "--flush") subs_type = "flush";
- else if (arg == "--new") subs_type = "new";
- else if (arg == "--periodic")
- {
- subs_type = "periodic";
- if (++i < argc) period = argv[i];
- else period = "1.0";
- }
- else if (arg == "--help")
- {
- usage();
- exit(1);
- }
- else if (arg == "--policy")
- {
- if (++i < argc)
- {
- std::string arg2(argv[i]);
- coil::normalize(arg2);
- push_policy = arg2;
- }
- else push_policy = "new";
- }
- else if (arg == "--skip")
- {
- if (++i < argc) skip_count = argv[i];
- else skip_count = "0";
- }
- else
- {
- subs_type = "flush";
- }
- }
-
- std::cout << "Subscription Type: " << subs_type << std::endl;
- if (period != "")
- std::cout << "Period: " << period << " [Hz]" << std::endl;
- std::cout << "push policy: " << push_policy << std::endl;
- std::cout << "skip count: " << skip_count << std::endl;
-
-
- CORBA::ORB_var orb = CORBA::ORB_init(_argc, _argv);
- CorbaNaming naming(orb, "localhost:9876");
-
- CorbaConsumer<RTObject> conin, conout;
- CorbaConsumer<OpenRTM::ExtTrigExecutionContextService> ec0, ec1;
-
- PortServiceList_var pin;
- PortServiceList_var pout;
-
- // find ConsoleIn0 component
- conin.setObject(naming.resolve("ConsoleIn0.rtc"));
-
- // get ports
- pin = conin->get_ports();
- pin[(CORBA::ULong)0]->disconnect_all();
- assert(pin->length() > 0);
- // activate ConsoleIn0
- ExecutionContextList_var eclisti;
- eclisti = conin->get_owned_contexts();
- eclisti[(CORBA::ULong)0]->activate_component(RTObject::_duplicate(conin._ptr()));
- ec0.setObject(eclisti[(CORBA::ULong)0]);
-
- // find ConsoleOut0 component
- conout.setObject(naming.resolve("ConsoleOut0.rtc"));
- // get ports
- pout = conout->get_ports();
- pout[(CORBA::ULong)0]->disconnect_all();
- assert(pout->length() > 0);
- // activate ConsoleOut0
- ExecutionContextList_var eclisto;
- eclisto = conout->get_owned_contexts();
- eclisto[(CORBA::ULong)0]->activate_component(RTObject::_duplicate(conout._ptr()));
- ec1.setObject(eclisto[(CORBA::ULong)0]);
-
- // connect ports
- ConnectorProfile prof;
- prof.connector_id = "";
- prof.name = CORBA::string_dup("connector0");
- prof.ports.length(2);
- prof.ports[0] = pin[(CORBA::ULong)0];
- prof.ports[1] = pout[(CORBA::ULong)0];
- CORBA_SeqUtil::push_back(prof.properties,
- NVUtil::newNV("dataport.interface_type",
- "corba_cdr"));
- CORBA_SeqUtil::push_back(prof.properties,
- NVUtil::newNV("dataport.dataflow_type",
- "push"));
- if (subs_type != "")
- CORBA_SeqUtil::push_back(prof.properties,
- NVUtil::newNV("dataport.subscription_type",
- subs_type.c_str()));
- else
- CORBA_SeqUtil::push_back(prof.properties,
- NVUtil::newNV("dataport.subscription_type",
- "flush"));
- if (subs_type == "periodic" && period != "")
- CORBA_SeqUtil::push_back(prof.properties,
- NVUtil::newNV("dataport.publisher.push_rate",
- period.c_str()));
- if (push_policy != "")
- CORBA_SeqUtil::push_back(prof.properties,
- NVUtil::newNV("dataport.publisher.push_policy",
- push_policy.c_str()));
- if (push_policy == "skip" && skip_count != "")
- CORBA_SeqUtil::push_back(prof.properties,
- NVUtil::newNV("dataport.publisher.skip_count",
- skip_count.c_str()));
-
- ReturnCode_t ret;
- ret = pin[(CORBA::ULong)0]->connect(prof);
- assert(ret == RTC::RTC_OK);
-
- std::cout << "Connector ID: " << prof.connector_id << std::endl;
- NVUtil::dump(prof.properties);
-
- std::string cmd;
- while (1)
- {
- try
- {
- std::cout << std::endl;
- std::cout << std::endl;
- std::cout << "0: tick ConsoleIn component" << std::endl;
- std::cout << "1: tick ConsoleOut component" << std::endl;
- std::cout << "2: tick both components" << std::endl;
- std::cout << "cmd? >";
- std::cin >> cmd;
- if (cmd == "0")
- {
- ec0->tick();
- }
- else if (cmd == "1")
- {
- ec1->tick();
- }
- else if (cmd == "2")
- {
- ec0->tick();
- ec1->tick();
- }
- }
- catch (...)
- {
- }
- }
- orb->destroy();
- exit(1);
-}
-
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